JPH04136352U - Unmanned operation device for forward/forward switching mechanism in work vehicle - Google Patents

Abstract

(57) [Summary] [Purpose] To reduce the number of parts and improve operability by eliminating the need for an operation switching mechanism that switches between manned and unmanned operation when connecting an unmanned operation device to a forward/reverse switching mechanism. [Structure] An operating arm 11 is provided that allows the main gear shift lever 5 to be manually switched between forward and backward in the neutral position, and the swing of the operating arm 11 caused by the motor drive allows the main gear shift lever 5 to be operated unattended. Afterwards, the operating arm 11 is configured to automatically return to the neutral position.

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

This invention is an unmanned operation system for the forward/reverse switching mechanism of working vehicles such as rice field work machines. It's about location.

0002

[Prior art and problems to be solved by the invention]

Today, in this type of work vehicle, efforts are being made to save labor and improve safety. Attempts are being made to operate the aircraft autonomously or remotely. In this case, a forward/reverse switching mechanism is used instead of manual operation of the forward/reverse switching lever. It is necessary to provide an actuator for unmanned operation. However, conventionally, In the case where an actuator for unmanned operation is connected to the forward/reverse switching mechanism, unmanned operation is possible. Manual operation of the forward/reverse switching lever is not allowed during operation, so unmanned operation and manned operation are not allowed. When using the actuator in conjunction with the Problems arise in workability due to the troublesome work of attaching and detaching. Therefore, acti An operation switch that allows you to switch between unmanned and manned operation without having to attach or detach the unit each time. It is conceivable to provide a switching mechanism, but even in this case a switching operation is still required. However, a new problem arises in that the number of parts increases.

0003

[Means to solve the problem]

In view of the above-mentioned circumstances, the present invention has been developed to provide a work-use product that can eliminate these drawbacks. Created with the aim of providing an unmanned operating device for forward/reverse switching mechanisms in moving vehicles. The aircraft can be moved forward or backward based on manual operation of the forward/reverse switching lever. In a work vehicle equipped with a forward/reverse switching mechanism that switches between The mechanism switches the forward/backward switching mechanism in place of manual operation of the forward/backward switching lever. When connecting an unmanned operation mechanism, the unmanned operation mechanism has a Neutral position that allows forward operation and manual reverse operation, and forward operation of the forward/reverse switching lever There is an unmanned forward operation position where the side is operated unmanned, and an unmanned forward operation position where the forward/reverse switching lever is operated unmanned on the reverse operation side. A movable unmanned operation part is provided at the unmanned reverse operation position, and the unmanned The actuator that controls the operating part has the aforementioned unmanned forward operation position or reverse operation position. A neutral automatic return means is provided to automatically return the unmanned operating part to the neutral position after it has been activated. It is characterized by the fact that it is provided. With this configuration, the present invention eliminates the need for an operation switching mechanism and reduces the number of parts. In addition to making it possible to use both unmanned and manned operations without switching operations, This makes it possible to significantly improve operability.

0004

【Example】

Next, one embodiment of the present invention will be described based on the drawings. In the drawing, 1 is for passenger It is a traveling body of a type rice transplanter, and an engine 2 is mounted on the front part of the traveling body 1. On the other hand, a planting work section 3 is connected to the rear part so that it can be raised and lowered, and a driving operation section is located in the middle part. 4 are provided, but their basic configurations are the same as before.

[0005] Reference numeral 5 denotes a main shift lever disposed in the driving operation section 4, and the main shift lever 5 includes: The operation positions include a first forward position F1 (work travel) and a second forward position F2 ( (driving on the road), neutral position N, and reverse position R, but when driving in a straight line during work driving, Now only the upper forward position F1, neutral position N, and reverse position R are used. There is. Incidentally, reference numeral 5a is a bullet that always urges the main shift lever 5 forward.

[0006] On the other hand, 6 is an unmanned operating device disposed in the operation section 4, and the unmanned operating device Reference numeral 6 indicates a motor 7 with a speed reduction mechanism, a torque limiter 8 connected to the motor 7, and a motor 7 with a speed reduction mechanism. A sector gear 9 that meshes with the output gear 8a of the torque limiter 8, the sector gear 9 being the rear a connecting shaft 10 fixed at the end; an actuating arm 11 fixed at the front end of the connecting shaft 10; An arm position sensor 12 detects the operating position of the operating arm 11, and a main gear shift lever. A forward movement sensor 13 that detects that the bar 5 is located at the forward position F1, similarly It is composed of a reverse sensor 14 etc. that detects the position of the vehicle, and an unmanned operation device. 6, the motor 7 is driven in forward and reverse directions based on commands from the control unit 15, which will be described later. By swinging the operating arm 11 left and right, the main gear shift lever 5 can be operated unattended. It's summery.

[0007] That is, the actuation arm 11 is moved at a predetermined interval (operation stroke of the main shift lever 15). In a plan view, the pair of abutting portions 11a are integrally arranged in parallel with each other. It is formed in a substantially U-shape, and this one is based on the forward and reverse drive of the motor 7, and the main gear shift lever is The neutral position that allows manual operation of the bar 5 and the forward position F1 of the main gear shift lever 5 are forward operation position where the main gear shift lever 5 is pressed to the reverse position R; It is configured to be able to swing and change its appearance depending on the operating position.

[0008] The control section 15 is a control unit configured using a so-called microcomputer. This one includes the arm position sensor 12, forward movement sensor 13, and reverse movement sensor. While inputting signals from the sensor 14 and a remote control device (not shown), etc., these input signals Based on the judgment, the motor 7, the main clutch unmanned operation device (not shown), etc. The device is configured to output a motion signal. In other words, the operation signal from the remote control device Based on this, unmanned operation control such as main gear shifting is performed, but as a subroutine for unmanned operation control. The defined main shift control will be explained below.

[0009] In main shift control, first select forward, reverse, or neutral from the remote control device. It determines whether a command has been input and branches control based on the determination. , Since forward operation and reverse operation have the same control concept, we will discuss forward operation and neutral operation. explain. First, in the input state of the neutral command, the forward movement sensor 13 and the rear It is determined whether or not the forward speed sensor 14 is OFF. Here, the forward movement sensor 13 is If it is determined that the vehicle is in the N position, press the main shift lever 5 to the neutral position N. The actuating arm 11 is swung toward the reverse side, while the reverse sensor 14 is turned on. If it is determined that the operating arm 11 is moving forward, the actuating arm 11 is swung toward the forward direction. , after the forward movement sensor 13 and the reverse movement sensor 14 are turned off, the actuating arm 11 The motor 7 is controlled to be driven in forward and reverse directions in order to return the motor to the neutral position.

0010 On the other hand, when a forward command is input from the remote control device, the main clutch flag is reset. After confirming that the forward movement flag is set and the forward movement sensor 13 is OFF, the forward movement flag is set. Determine whether there is or is in a reset state. And immediately after forward operation, it is in the reset state. After determining that there is a forward movement flag and starting the forward movement timer, the activation alarm is activated. The arm 11 is swung toward the forward side, but after activating the actuating arm 11, the arm 11 is swung forward. After monitoring the ON of the sensor 13 and confirming that the forward movement sensor 13 is ON, the The arm 11 is swung toward the reverse side and stopped at a neutral position. The sea urchin is sleeping. On the other hand, after swinging the actuating arm 11 toward the forward direction, If the forward movement sensor 13 does not turn ON even after the set time has elapsed, the transmission gear It is determined that the meshing position is not correct. In this case, the actuating arm 11 is Once the vehicle is returned to the neutral position, it is turned off using the remote control device. Turn on the main clutch for a predetermined period of time, and then swing the actuating arm 11 toward the forward direction. It is now possible to move the gear and try forward gear shifting again.

[0011] In the embodiment of the present invention configured as described above, during manned operation, the operating lever 1 1 is located at the neutral position, allowing manual gear shift operation of the main shift lever 5. On the other hand, during unattended operation, the actuating lever 11 changes its main position by swinging based on the forward and reverse drive of the motor 7. Although the speed lever 5 will be operated unmanned, the operating lever 11 will not change the main speed lever 5. After the gear shift operation, the main gear shift lever 5 returns to the neutral position and allows manual gear shift operation of the main gear shift lever 5. It becomes. Therefore, it is not necessary to connect or disconnect the unmanned operation device 6 one by one. It goes without saying that it can be used in combination with both manned and unmanned operations, but it can also be used based on switching operations. This eliminates the need for an operation switching mechanism to switch between manned and unmanned operation. As a result, operability can be improved by eliminating the need for switching operations. It is also possible to simplify the structure by reducing the number of parts.

0012 Moreover, a torque limiter 8 is installed in the transmission path from the motor 7 to the operating lever 11. Since this is provided, there is no possibility of malfunctions that may cause overload to be applied to the motor 7 and cause damage. can be prevented.

[0013] Furthermore, in the embodiment, the actuation lever 11 is changed within a predetermined period of time after the actuation lever 11 is swung. If the speed is not completed, turn on the main clutch and change the gear position. Since the configuration is such that the actuating lever 11 is swung again from then on to attempt the gear shift, the main gear shift In order to ensure reliable and reliable unmanned operation, it is possible to drive the motor 7 for a long time. Problems such as damage to the motor 7 can also be reliably prevented.

[0014]

[effect]

In summary, since the present invention is constructed as described above, it is possible to use a forward/reverse switching machine. In addition, the forward/reverse switching mechanism is operated instead of manual operation of the forward/reverse switching lever. Although it is connected to an unmanned operation mechanism, it is not possible to operate the forward/reverse switching lever unattended. After operating the forward/backward switching lever for forward or reverse, the human-actuated part will return to a neutral position that allows manual forward and reverse operation of the switching lever. become. Therefore, manned operation can be performed without connecting or disconnecting the unmanned operation mechanism. It goes without saying that it can be used for both manual and unmanned operation, as well as manned operation based on switching operation. It is also unnecessary to provide an operation switching mechanism to switch between unmanned and unmanned operation. Perhaps by eliminating the need for switching operations and improving operability, the number of parts has been reduced. It is also possible to simplify the structure by reducing the number of times.

[Brief explanation of drawings]

FIG. 1 is a side view of a rice transplanter.

FIG. 2 is a side view of the unmanned operating device.

FIG. 3 is a front view of the same as above.

FIG. 4 is a sectional view of essential parts of the same as above.

FIG. 5 is a block diagram schematically showing a control mechanism.

FIG. 6 is a flowchart showing main shift control.

[Explanation of symbols]

1 Traveling aircraft 5 Main gear shift lever 6 Unmanned operation device 7 motor 11 Actuation arm 15 Control section

Claims (1)

[Scope of utility model registration request] 1. A work vehicle comprising a forward/reverse switching mechanism for switching forward/backward movement of a traveling body based on manual operation of a forward/reverse switching lever, wherein the forward/reverse switching mechanism includes a manual operation of the forward/reverse switching lever. In order to connect an unmanned operation mechanism that switches and operates the forward/reverse switching mechanism instead of the front/backward switching mechanism, the unmanned operating mechanism has a neutral position that allows manual forward operation and manual reverse operation of the forward/reverse switching lever, and a neutral position that allows the forward/reverse switching lever to operate manually. A movable unmanned actuating section is provided at an unmanned forward operating position where the forward operating side is unmanned and an unmanned reverse operating position where the forward/reverse switching lever is unmannedly operated to the reverse operating side, and an actuator that controls the unmanned operating section. Forward/forward switching in a work vehicle, characterized in that the above-mentioned automatic neutral return means is provided for automatically returning the unmanned actuating unit activated to the unmanned forward operation position or the reverse operation position to the neutral position. Mechanism's unmanned operating device.